This paper presents a new hybrid active & semi-active control methodudfor vibration suppression in flexible structures. The method uses a combination of audsemi-active device and an active control actuator situated elsewhere in the structureudto suppress vibrations. The key novelty is to use the hybrid controller to enableudthe magneto-rheological damper to achieve a performance as close to a fully activeuddevice as possible. This is achieved by ensuring that the active actuator can assistudthe magneto-rheological damper in the regions where energy is required. In addition,udthe hybrid active & semi-active controller is designed to minimize the switching of theudsemi-active controller. The control framework used is the immersion and invarianceudcontrol technique in combination with sliding mode control. A two degree-of-freedomudsystem with lightly damped resonances is used as an example system. Both numericaludand experimental results are generated for this system, and then compared as partudof a validation study. The experimental system uses hardware-in-the-loop to simulateudthe effect of both the degrees-of-freedom. The results show that the concept is viableudboth numerically and experimentally, and improved vibration suppression results canudbe obtained for the magneto-rheological damper that approach the performance of anudactive device.
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